cmake_minimum_required(VERSION 2.8.3)
project(grid_map_demos)

set(CMAKE_CXX_FLAGS "-std=c++11 ${CMAKE_CXX_FLAGS}")

## Find catkin macros and libraries
find_package(catkin REQUIRED COMPONENTS
  roscpp
  grid_map_ros
  grid_map_cv
  grid_map_msgs
  geometry_msgs
  sensor_msgs
  cv_bridge
)

###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
  INCLUDE_DIRS include
#  LIBRARIES ${PROJECT_NAME}
  CATKIN_DEPENDS
#  DEPENDS system_lib
)

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
  include
  ${catkin_INCLUDE_DIRS}
  ${EIGEN3_INCLUDE_DIR}
)

## Declare a cpp executable
add_executable(
  simple_demo
  src/simple_demo_node.cpp
)

add_executable(
  tutorial_demo
  src/tutorial_demo_node.cpp
)

add_executable(
  iterators_demo
  src/iterators_demo_node.cpp
  src/IteratorsDemo.cpp
)

add_executable(
  image_to_gridmap_demo
  src/image_to_gridmap_demo_node.cpp
  src/ImageToGridmapDemo.cpp
)

add_executable(
  move_demo
  src/move_demo_node.cpp
)

add_executable(
  iterator_benchmark
  src/iterator_benchmark.cpp
)

add_executable(
  opencv_demo
  src/opencv_demo_node.cpp
)

add_executable(
  resolution_change_demo
  src/resolution_change_demo_node.cpp
)

## Specify libraries to link a library or executable target against
target_link_libraries(
  simple_demo
  ${catkin_LIBRARIES}
)

target_link_libraries(
  tutorial_demo
  ${catkin_LIBRARIES}
)

target_link_libraries(
  iterators_demo
  ${catkin_LIBRARIES}
)

target_link_libraries(
  image_to_gridmap_demo
  ${catkin_LIBRARIES}
)

target_link_libraries(
  move_demo
  ${catkin_LIBRARIES}
)

target_link_libraries(
  iterator_benchmark
  ${catkin_LIBRARIES}
)

target_link_libraries(
  opencv_demo
  ${catkin_LIBRARIES}
)

target_link_libraries(
  resolution_change_demo
  ${catkin_LIBRARIES}
)

#############
## Install ##
#############

catkin_install_python(
  PROGRAMS scripts/image_publisher.py
  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

# Mark executables and/or libraries for installation
install(
  TARGETS simple_demo tutorial_demo iterators_demo image_to_gridmap_demo move_demo iterator_benchmark opencv_demo resolution_change_demo
  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

# Mark other files for installation
install(
  DIRECTORY config doc launch rviz scripts
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)

